Robotsko učenje in planiranje potiskanja predmetov

author: Miha Troha, Mathematical Institute, University of Oxford
published: Jan. 18, 2011,   recorded: January 2011,   views: 3250


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Na seminarju bomo obdelali strojno učenje in uporabo induciranih modelov na domeni robotskega potiskanja predmetov. Tako učenje kot uporabo opazujemo iz dveh zornih kotov: kvalitativnega in numeričnega. V fazi učenja za izdelavo kvalitativnega modela uporabimo Šucev algoritem QUIN, za izdelavo numeričnega modela pa lokalno uteženo regresijo in kvalitativno zvesto učenje (Šucev algoritem QFilter). Vsakega izmed modelov nato uporabimo za izvedbo nalog potiskanja predmetov. Pri tem smo razvili nov način uporabe kvalitativnega modela, ki smo ga imenovali kvalitativno planiranje. Izkaže se, da le-ta izjemno zmanjša kompleksnost planiranja in hkrati izboljša izvedbo.

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